JPH09267276A - Carrying robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To safely and autonomously perform a movement in a corridor and a room in a medical and welfare facility and transfer with an object robot by providing an articulated multidegree of freedom manipulator or the like which can autonomously take an object in and out of a housing part in a carrying robot by using measuring information. SOLUTION: Necessary data such as an ID of a person to be cared and a room number is transferred to a meal carrying robot 101 from a remote control monitoring operation part 105, and when a work starting command is sent out, the robot moves in a self-sustaining shape up to the front of a delivery wagon 107 by a moving mechanism part 108. An image of a recognizing label 110 on an object tray 109 is picked up by a visual sense sensor 112 arranged in a wrist part of a manipulator 111, and this is recognized by an environment measuring recognizing device 113 for manipulation, and a meal of a patient to be carried is selected. Next, the object tray 109 is gripped by a gripping mechanism 114 of the wrist part, and the object tray 109 is pulled out of a meal delivery wagon 107, and is housed in a tray housing part 115 in the carrying robot 101.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomously controllable transfer robot, and particularly to transfer work such as transfer and transfer of meal trays and linens in an indoor environment where humans normally live, such as in medical and welfare facilities. The present invention relates to a robot system suitable for.

[0002]

2. Description of the Related Art In recent years, with the declining birthrate and aging society, demand for facilities and medical facilities has increased, while securing personnel for the facilities has become difficult. In addition, due to the aging society and the aging of caregivers, it is considered that the work of delivering meals, lower dishes, linens, etc. will become a heavy labor for caregivers, so it is necessary to transfer and transport meal trays and linens. Automation of the accompanying transportation work is desired.

[0003]

Under such a background, the transport robots currently being developed have a guide such as a tape installed on the traveling path, and many robots travel along the guide, so that the transfer route is limited. Has been done. When introducing such a robot, it is necessary to install a guide, and there is a problem in that the bed position in the medical and welfare facility, which is frequently changed, must be installed each time. In addition, even when traveling in a room where the care recipient lives, there are many daily necessities in the room, and the transport robot that travels along a guide along a certain path uses that as a place for living. This would cause the person to suffer, and in addition, if the patient rubs against a wheelchair patient or the like in the facility, the patient will be prevented from doing so, and safety and compatibility with human society are lacking. For example, delicate positioning is required for meal tray servicing and lower servicing work from the bedside, and a transfer robot traveling along such a guide has poor flexibility and a limited work range. There was a problem. In addition, even for transport robots that do not apply tape on the travel route, it is necessary to change the environment of the facility such as installing marks at the corners of the facility, and for autonomous traveling in the living room, The application was difficult due to the lack of flexibility.

Further, no practical transfer robot has a manipulation function, and only the transfer of the object is performed, so that the worker (nursing / caregiver, etc.) unloads the object. After all, there was a problem that it was a burden on the nursing and caregivers and that it imposes time constraints. On the other hand, even if the manipulator has a manipulating function, the manipulator is intended to be used in places such as factories and laboratories, and lacks safety considerations, so it can be used in environments where there are nursing / caregivers and cared persons. Was difficult.

Further, since the current transfer robot is premised on use in a factory, it emphasizes work efficiency, presents motions and information in consideration of a visual impression given to humans, and, for example, humans. It is possible to perform a reaction action that gives a familiar impression such as responding to the voice of
A robot symbiotic with a person who is supposed to be used in a facility has not been practically realized. In addition, the current transfer robot is premised on that only a skilled and specific person can operate it, and only the minimum operability that can be smoothly operated by those who are familiar with the characteristics and functions of the robot and have experience However, there is a problem that a person who does not have specific knowledge or experience cannot operate it easily. Further, in a typical assembly work line in a factory, one-way processing is performed according to a pre-programmed procedure. These factors have been practically difficult in terms of operational flexibility and safety for caregivers and nurses to operate in medical and welfare facilities premised on use in the present invention. Therefore, the present invention is a transfer robot system capable of autonomously and safely moving a corridor / room in a medical / welfare facility and transferring an object to / from a robot in consideration of a human interface in the medical facility. The purpose is to provide.

[0006]

In order to solve the above-mentioned problems, a storage unit capable of storing an object to be conveyed, a visual sensor,
A measuring and recognizing means based on the sensor information, an articulated multi-free manipulator capable of autonomously moving an object in and out of a storage part in a transfer robot by using the measured information, and a traveling environment by the visual sensor Measurement and recognition means of
A transport robot having a robot movement path generation means based on the measurement recognition result, a movement mechanism capable of autonomous movement from a travel command according to the generation path and sensor information, and an interface means for communicating with an operator or the like, and a transfer robot. It is characterized in that it is provided with a remote monitoring operation unit capable of performing work monitoring and remote control of the robot.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION An example of a meal transport robot system will be shown below as an embodiment. FIG. 1 is a perspective view of a meal transportation robot system in a medical / welfare facility which is an embodiment of the transportation robot system according to the present invention. Number 10 in the figure
Reference numeral 1 denotes a meal carrying robot that is loading or returning food, and 102 is a food transport robot that is serving or serving food. Meal transport robot
101 and 102 transmit commands and images with the remote monitoring operation unit 105 through command / image transmission devices 103 and 104 built in the main body, and are set to be remotely operable according to the information. Also, the food transport robot 101 and
The transfer work of 102 is a real-time simulator for work verification in advance.
Validated by 106 and set to run after confirming safe operation.

After the delivery wagon 107 on which the meal is put from the cooking chamber is manually placed at a predetermined position, the remote monitoring operation unit 105
When the necessary data such as the care recipient's ID and room number are transferred from the meal transfer robot 101 to the meal transfer robot 101 and a work start command is sent,
The robot autonomously moves to the front of the delivery wagon 107 by the moving mechanism unit 108. A plurality of trays 109 on which meals are placed are stored in the delivery wagon 107, and food recognition labels 110 are installed on the trays 109. After moving, the food transport robot 101 operates the multi-joint multi-degree-of-freedom manipulator 111 stored in the main body toward the food tray 109. The visual sensor 112 installed on the wrist of the manipulator 111 allows the recognition label 110 on the target tray 109.
Environment measurement recognition device for manipulation 113
This is recognized and the patient's meal to be transported is selected, and then the target tray 109 is gripped by the gripping mechanism 114 of the wrist. The manipulator 111 is the target tray 109 that is gripped.
The food delivery wagon 107 and the transfer robot 101
It is stored in the tray storage section 115 inside. After repeating this operation a predetermined number of times, the manipulator 111 is stored in the robot body again, and the moving mechanism 108 moves it to the bedside in the living room. During this time, the self-position correction information and the obstacle detection information using the extraction result of the characteristic part in the facility by the traveling environment measurement recognition device 118 using the visual sensor 116 installed in the upper part of the robot and the visual sensor 117 installed in the rear part of the robot are used. Re-plan the route. In addition, the traveling control device 12 using the obstacle sensor 119 arranged on the robot body
0 identifies and avoids obstacles on the road.

The transfer robot 102 that has reached the bedside has a touch panel display 121 and a voice processing device 122 on the upper surface of the robot, and has a simple conversation with the cared person or the caregiver. Then manipulator 12
3 is moved up to the target tray 124 in the main body, gripped by the gripping mechanism 125 of the wrist, and then pulled out from the tray storage 126. From the image information of the visual sensor 127 installed on the wrist, the environment measurement recognition device for manipulation 128 measures and recognizes the position of the overtable 129 at regular time intervals, and the manipulator 123 uses the position information to detect the tray 124 of the overtable 129. Install on top. Wrist grip mechanism 12 after installation
Open 5 and store the manipulator 123 again in the body. After this operation is repeatedly performed for a predetermined patient in the living room, the original delivery wagon 107 is autonomously moved back again, and a new meal tray is taken in and serving is repeated. The transport robot 102 that has reached the bedside has a touch panel display 121 and a voice processing device 122 on the upper surface of the robot, and has a simple conversation with the cared person or nursing / carer. After that, the manipulator 123 is moved to the target tray 124 in the main body, and the gripping mechanism 125 of the wrist is
After gripping with, pull out from the tray storage unit 126. Based on the image information from the visual sensor 127 installed on the wrist, the environment measurement and recognition device for manipulation 128 shows the over table 12
The position of 9 is measured and recognized at regular intervals, and the manipulator 123 moves the tray 124 over table based on this position information.
Installed on 129. After installation, the wrist gripping mechanism 125 is opened and the manipulator 123 is stored in the main body again. After this operation is repeatedly performed for a predetermined patient in the living room, the original delivery wagon 107 is autonomously moved back again, and a new meal tray is taken in and serving is repeated.

At the time of finishing the meal after finishing the meal, when a work start command is sent from the remote monitoring operation unit 105 to the meal transport robot 102, the meal transport robot 102 autonomously moves to the bedside and has a touch panel on the upper surface of the robot. With the display 121 and the voice processing device 122, a simple conversation is carried out with the cared person or nursing / carer. After that, from the image information of the visual sensor 127 installed on the wrist, the environment measurement recognition device for manipulation 128 is overtable.
The position of the tray 124 on the 129 is measured and recognized at regular intervals,
Based on this position information, the manipulator 123 moves the wrist gripping mechanism 125 to the tray 124, and the wrist gripping mechanism 12 is moved.
5 holds the tray 124. The manipulator 123 lifts the tray 124 and inserts it into the tray storing section 115 in the main body, then opens the wrist gripping mechanism 125, and is stored in the robot main body. After repeating this operation for a predetermined patient in the living room, the moving mechanism 108 autonomously moves to the delivery wagon 107. During this time, the self-position correction information and obstacle detection information using the result of feature extraction in the facility by the traveling environment measurement recognition device 118 using the visual sensor 116 installed in the upper part of the robot and the visual sensor 117 installed in the rear part of the robot. To re-plan the route. Further, the traveling control device 120 using the obstacle sensor 119 arranged in the robot body recognizes and avoids the obstacle on the traveling road.

The meal transport robot 101 that has autonomously moved to the front of the delivery wagon 107 directs the multi-joint multi-degree-of-freedom manipulator 111 stored in the main body to the tray 109 in the main body tray storage section 115 while moving. To operate. When the tray 109 is gripped by the gripping mechanism 114 of the wrist, the manipulator 111 pulls out the gripped tray 109 and operates it toward the delivery wagon 107. From the image information of the visual sensor 112 installed on the wrist, the environment measurement recognition device for manipulation 113 measures and recognizes the empty position in the delivery wagon,
Based on this position information, the manipulator 123 is set on the tray 124.
Insert into the empty position in the delivery wagon. After repeating this operation until all the trays 109 in the tray storage unit 115 in the main body are returned, the manipulator 111 is stored in the robot main body again, and the moving mechanism 108 moves it to the next room.
Repeat the set and return of a new meal tray.

FIG. 2 is a detailed view of the meal transport robot.
In the moving mechanism portion indicated by reference numeral 201 in the drawing, four driven wheels 202 (which may be four or more) which can freely swing at the four corners of the bottom are provided.
Is arranged. There are two drive wheels 20 in the center of the bottom.
3 and the motor 204 that drives it,
These are rotatable about a vertical axis. The drive wheel 203 itself can be steered to an arbitrary angle by a motor 205 that turns the drive wheel 203 and the drive motor 204 about a vertical axis, and thus the moving mechanism section 201 can be driven in an arbitrary direction within a horizontal plane. You can Motor 204, 205
And the controller 206 of the motor 204 is powered by a battery 207. The battery 207 also enables autonomous movement by providing full power to the food delivery robot. A bumper is provided as a safety mechanism on the outer periphery of the moving mechanism 201.
208 are located. A switch installed on the bumper 208 is set to immediately stop traveling when the vehicle comes into contact with the outside environment.

The multi-joint multi-degree-of-freedom manipulator unit 209 is
For example, the linear motion degree of freedom 210 in the vertical plane placed at the base,
Due to this, the degrees of freedom of turning 211, 212 in the horizontal plane that rises and falls
, 213 and a gripping mechanism 214 arranged at the tip thereof. The degrees of freedom 210 to 213 are independently controlled by the motor. The gripping mechanism 214 is a simple fork type in the drawing, but may be a gripper type with added gripping freedom. Further, the axial configuration of the entire manipulator unit 209 also includes, for example, a degree of freedom of rotation in a vertical plane at the root, three degrees of freedom of rotation in a horizontal plane that are swung by this, and a degree of freedom of rotation in a vertical plane arranged at the tip thereof. Other axis configurations that can reach an arbitrary point in space, such as a configuration including a gripping mechanism that swivels by that, may be used. As a safety device, for example, the movement is stopped or changed by recognizing an obstacle in the operation space based on the information of the visual sensor 215 installed on the wrist, or a slip installed in each joint is used. Avoid excessive load at the time of collision with a mechanical torque limiter, or control the force applied to the external environment at the time of collision using the information of the torque sensor installed in each joint or the force sensor installed at the tip. Or the like can be used.

The tray storage unit 216 is, for example, a shelf-like box that can store six trays on which food is placed, and each tray is supported by rails 217 installed at both ends of the inner surface of the box. There is a space 218 for storing the manipulator in the lower part of the tray storage unit, and the manipulator unit 209 is stored in this space when the robot moves so that the manipulator 209 and the external environment are prevented from contacting each other.

FIG. 3 shows a control block diagram of the present invention. The traveling control unit 301 includes a route tracking device 302 capable of sending a traveling command to a moving mechanism unit for following the route based on the reference route data of the transfer robot, and an obstacle arranged in the robot body. Integrates information from sensors,
An obstacle detection unit 303 capable of recognizing an obstacle on the traveling road and an obstacle avoidance unit 304 capable of generating an obstacle avoidance trajectory based on the information from the obstacle detection unit.

The running environment measurement recognition device 305 detects the position of the robot in the environment map and the obstacle on the run based on the image information from the visual sensor on the upper part of the robot. The two visual sensors 306 on the upper part of the robot are installed on the rotating mechanism 307 having at least one degree of freedom, and can track the object forward and leftward and rightward according to the position of the recognition measurement object (visual field control device). When traveling backward (back etc.), an image is obtained by the visual sensor 308 attached to the rear part of the robot. The image of each visual sensor is the image switcher 30
9 is input to the traveling environment measurement recognition device 305. The characteristic extraction device 310 of the traveling environment measurement recognition device 305 has a plurality of characteristic portions in the traveling environment in advance as template images, and matches these template images with the images during traveling to obtain the traveling environment. Extract multiple characteristic parts in. The self-position measuring device 311 measures the distances of a plurality of characteristic positions on the obtained image by stereo vision using two visual sensors, and determines the self-position of the robot from the result and the characteristic position information in the environment map. .
The obstacle detection device detects an obstacle on the floor surface and generates an obstacle position and its obstacle map by using stereo vision.

The route planning device 313 has environment map information of the facility, which has been input in advance, and uses the map as a reference route from the robot position to the target room and each bed in the room (reference route). ) Is generated by the reference route planning unit 314. The route replanning unit 315 compares the self-position information measured by the traveling environment measurement recognition device 305 with the reference route information while the robot is traveling, and if the robot's traveling route deviates from the reference route, the corrected route is corrected. Re-plan. Also,
Based on the obstacle map information generated by the traveling environment measurement recognition device 305, the obstacle avoidance route is re-planned and the reference route is corrected.

Manipulation environment measurement recognition device 31
6 is two visual sensors 317 at the hand of the manipulator
Alternatively, the image information of the visual sensors 306 and 308 above the robot is used to recognize the object and measure the distance to the object.
In the object recognition device 318 in the robot that conveys food, for example, the corner portion of the food tray is acquired in advance as a template image, and the food tray can be recognized from this template image and the image information obtained from the visual sensor. . The object measuring device 319 can measure the portion where the manipulator holds the meal tray based on the recognition information of the object recognizing device 318, for example, by stereoscopic vision using the two visual sensors 317 at the tip of the manipulator. The measurement result is sent to the manipulator device 320,
The manipulator operates according to the measurement result. At a distance with sufficient measurement accuracy, the food tray can be gripped by one measurement, but at a distance at which sufficient measurement accuracy cannot be obtained, the object measurement device 319 keeps the gripping position on the image constant while tracking during manipulator operation. Repeat the measurement every hour,
The measurement information is continuously sent to the manipulator unit, and the manipulator is operated while correcting the target position of the manipulator.
reference). As the object label identification device 321 in the environment measurement and recognition device 316 for manipulation, for example, the name of the cared person written on the meal nameplate is acquired as a template image, and each object on the meal tray in the delivery wagon is acquired. The caregiver's meal nameplate is identified by template matching, and instructions are given to remove the necessary meal tray.

FIG. 5 shows the basic configuration of the serving operation simulation. In the catering work simulator, the work procedure and the work simulation generated by the route planning device according to the reference route are performed in real time. The real-time simulation section performs robot dynamics calculations, interference checks between the robot and walls and beds, and visual sensor simulations in real time. Furthermore, display and model registration are also performed. The external interface and the work procedure management manage the procedure at the time of simulation with the interface with the outside, and the robot controller calculates the motor torque and the like for the robot operation according to the work procedure. The environment model input inputs the facility environment. These components are used to simulate the serving process. First, the transport robot is operated on the simulator according to the reference route obtained by the same method as the reference route planning unit of the navigation unit. At this time, it is possible to check whether the transport robot does not come into contact with the corridor wall or the chaise lounge that has been input in advance while traveling, and whether the traveling route is appropriate. Also, when traveling indoors, it is possible to check whether the serving order is appropriate. In addition, it is possible to verify the movement of the manipulator by a simulation regarding the method of serving meals to each bed and the method of preparing the meals. If there is a problem, it can be changed.

FIG. 6 is a block diagram of the information presentation device. The information presenting device indicated by reference numeral 401 in the figure includes a display device with a touch panel 402 which is attached to the surface of the robot. The information presentation processing device 403 includes an internal interface device 404 that communicates with a device inside the robot such as a manipulator and a moving mechanism, and displays on a display according to an instruction from the touch panel and the internal interface device.
Controls the operation of the transfer robot.

FIG. 7 is an explanatory diagram showing the processing of the information presentation processing device 403. The operation control processing 501 controls the information presentation device and the transfer robot based on an operation instruction by a person pressing the touch panel 402 and an instruction from the inside of the robot through the internal interface device 404. Image display processing that displays characters and images based on the controlled results
502, when operating or stopping a device inside the robot such as a manipulator or a moving mechanism, control is performed through the internal interface device 404.

FIG. 8 is a schematic view of an information presenting apparatus having a voice processing function. The information presentation device denoted by reference numeral 401 in the figure includes a display device with a touch panel 402, two (may be two or more) voice input devices 405, and two (may be two or more) voice output devices 406. , It is configured to output a sound or display a character or an image according to the sound. In addition, a motor 408 is provided below the information presenting device 401.
A rotation device 407 provided with is arranged so that the information presentation device 401 can be freely rotationally controlled around the vertical axis. The information presentation processing device 403 is connected to each of these devices and further includes an internal interface device 404 that communicates with devices inside the robot such as a manipulator and a moving mechanism, and controls the information presentation device 401 and the transfer robot.

FIG. 9 is an explanatory view showing the processing of the information presentation processing device 403, and is a detailed explanation of the information presentation unit in FIG. The information presentation processing device 403 is a voice recognition process 503 for extracting a character string from the signal input from the voice input device 405.
And a sound source direction detection process 505 for detecting from which direction the sound comes. The motion control processing 501 is based on the result of the voice recognition processing 503 and the sound source direction detection processing 504, an operation instruction by a person pressing the touch panel 402, and an instruction from the inside of the robot through the internal interface device 404. Control the movement of the robot. As a result of the control, a voice synthesis process 504 for generating a voice, a rotation control process 506 for rotating the information presenting device 401, an image display process 502 for displaying a character or an image, and a robot internal operation such as a manipulator or a moving mechanism are performed. When operating or stopping the device, control is performed through the internal interface device 404.

The remote monitoring operation unit is divided into the inside of the robot and the center side 105 for managing the robot, and commands and images can be transferred bidirectionally by using a wireless LAN or the like as the command / image transmission devices 103 and 104. The remote monitoring operation unit inside the robot is connected to each mechanism via Ethernet, and bidirectional command transfer is possible. The remote monitoring operation unit inside the robot is equipped with an image compression board to reduce the number of wireless transmission lines.
The remote monitoring operation unit on the center side includes a display with a touch panel, dedicated operation buttons, a personal computer, etc. (see FIG. 10). Next, an operation example of the remote monitoring operation unit will be described. In the normal operation, the remote monitoring operator operates from the center side to transfer the data such as the care recipient's ID, room number, and meal type to the meal transport robot before the meal starts, and sends the serving start command. During serving and lowering, the center side monitors the position information of the transfer robot sent from the traveling environment measurement and recognition device, and the position is displayed on the touch panel display of the remote monitoring operation unit according to the operator's request. I do. In the event of an emergency such as a failure or an infeasible situation, the robot of the remote monitoring operation unit can display the transfer robot's self-position / obstacle information from the traveling environment measurement recognition device and the image information of each visual sensor. It is sent from the inside to the remote monitoring operation unit on the center side via the transmission device and displayed on the touch panel display. The remote monitoring operator uses the menu buttons and the transfer robot operation buttons displayed on the touch panel display while viewing the transmitted peripheral image of the transfer robot to instruct the transfer robot to operate, and this information is transmitted via the transmission device. Then, it is sent to the remote monitoring operation unit inside the robot, and the control command is sent to each mechanism via Ethernet inside the robot, and the robot is directly controlled from the center.

Robots that have the same overall structure but perform different tasks include linen collection and transfer robots,
There is a chemical / chart transfer robot. All of these can be realized with almost the same overall configuration by transferring or moving a linen storage box or a medicine / carte storage box instead of the meal tray. As a result, linens, medicines, and medical records can be autonomously transferred from the bedside of each room to the laundry room or between nurse stations. Also, instead of transporting to each living room, as a food transport robot to the dining room,
Almost the same configuration can be used.

[0026]

As described above, according to the present invention, it is possible to safely and autonomously move a corridor / room in a medical / welfare facility and transfer an object to / from a robot. It is possible to provide a transfer robot system capable of autonomous operation in consideration of a human interface.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of a transfer robot system of the present invention.

FIG. 2 is a detailed view of the meal transport robot of the present invention.

FIG. 3 is a control block diagram of the present invention.

FIG. 4 is a diagram illustrating visual feedback.

FIG. 5 is a diagram showing a basic configuration of a catering work simulation.

FIG. 6 is a block diagram of an information presentation device.

FIG. 7 is an explanatory diagram showing the processing of the information presentation processing device 403.

FIG. 8 is a schematic view of an information presentation device having a voice processing function.

FIG. 9 is an explanatory diagram showing the processing of the information presentation processing device 403.

FIG. 10 is a diagram showing an example of a remote monitoring operation unit.

[Explanation of symbols]

 101 Meal transport robot loading or returning meals 102 Meal transport robot feeding or lowering meals 103, 104 Command / image transmission device 105 Remote monitoring operation unit 106 Real-time simulator for work verification

Continued Front Page (72) Naoto Shimozono Naoto Shimozono 2-1, Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu, Fukuoka Yasukawa Electric Co., Ltd. (72) Inventor Takashi Uchiyama 1015 Kamiodanaka, Nakahara-ku, Kawasaki-shi, Kanagawa Within Fujitsu Limited

Claims (11)

[Claims] 1. A storage unit capable of storing an object to be conveyed, a visual sensor, and a measurement recognition unit based on the sensor information.
Using the measurement information, an articulated multi-free manipulator that can autonomously move an object in and out of a storage unit in the transfer robot, a traveling environment measurement recognition means by the visual sensor, and the measurement recognition result A transfer robot having a robot operation path generating means, a moving mechanism capable of autonomously moving from a travel command according to the generated path and sensor information, and an interface means for communicating with an operator or the like, and work monitoring of the transfer robot. A transfer robot system comprising: a remote monitoring operation unit capable of remote operation. 2. A multi-joint multi-degree-of-freedom mechanism that transfers an object to be conveyed in a gap between an external environment and a storage unit inside a transfer robot, and a hand portion capable of gripping or supporting the object to be transferred.
The transport robot system according to claim 1, further comprising a safety mechanism that avoids contact and does not cause harm even if contact occurs. 3. A variety of element devices, batteries for driving them, and an object storage unit are mounted, four driven wheels which are arranged at the four corners of the bottom and are rotatable, and which are arranged in the center of the bottom and are independently controlled. It has a moving mechanism section with two possible driving wheels and a driving motor, a steering motor that turns the driving wheels around a vertical axis, and a safety device for preventing collision with people, machinery, facilities, etc. The transfer robot system according to claim 1, wherein the transfer robot system performs autonomous movement by performing speed control and steering angle control based on a travel command. 4. A rotating mechanism having one or more degrees of freedom installed on the upper part of the robot, two visual sensors installed on the rotating mechanism and a visual sensor installed on the rear part of the robot, and based on information from the visual sensor. A feature extraction device that can extract characteristic parts in the facility, a self-position measurement device that can measure the robot's self-position from the characteristic parts in the facility, and obstacles that can measure and recognize obstacles based on information from visual sensors It has a traveling environment measurement recognition device composed of an object detection device, and based on the measurement recognition data and route data from this traveling environment measurement recognition device, it can correct the robot's own position and re-plan the obstacle avoidance route. The transfer robot system according to claim 1, wherein the reference route data along which the transfer robot travels is automatically generated from the indoor environment map information. 5. The transfer robot system according to claim 4, further comprising a visual field control device capable of controlling a rotation mechanism of a visual sensor toward a feature based on measurement recognition data of the traveling environment measurement recognition device. 6. A route tracking device capable of sending a traveling command to a moving mechanism section for following a route based on reference route data of a transfer robot, an ultrasonic sensor arranged in a robot body, and An obstacle detection unit that integrates optical sensors and recognizes obstacles on the road, and an obstacle avoidance unit that generates an obstacle avoidance trajectory based on information from the obstacle detection unit. The transfer robot system according to claim 1, further comprising: 7. A manipulator is provided with one or more visual sensors on a wrist portion, and the visual sensor of the visual sensor or the robot upper part attached to the robot is used to detect an object using image information from the visual sensor and object information in advance. An object recognition device that can be recognized and an object measurement device that can measure the distance of the object,
And an environment measurement and recognition device for manipulation, which consists of a target label identification device that can identify the label of the object based on the information from the visual sensor, and the environment measurement and recognition device for manipulation repeats measurement recognition at regular intervals. The transfer robot system according to claim 1, further comprising a visual feedback control function capable of operating the manipulator up to the object based on the measurement information. 8. The transfer robot system according to claim 1, further comprising a work verification real-time simulator capable of performing a work verification by a simulation of a transfer work based on a travel plan in advance and confirming a safe operation. 9. An internal interface device capable of bidirectionally communicating with an internal device of a transfer robot such as a manipulator and a moving mechanism, a display with a touch panel is mounted on the surface of the robot, and information from the internal interface is processed to be displayed on the display. Displayed on the screen, and an operator such as a nursing / caregiver or a cared person can easily instruct the transfer robot by selecting the menu button, and information processing that can control the operation of the robot. 2. The transfer robot system according to claim 1, wherein an operator such as a nursing / caregiver, a cared person, or the like configured from the device can easily check the internal state of the robot and can easily operate the robot. 10. A voice input device capable of receiving an acoustic signal,
It is equipped with a voice output device that can generate an acoustic signal and a rotation device that can rotate the entire device around a vertical axis, recognizes human voice, and can make an accurate response according to the recognition result. 10. The transfer robot system according to claim 9, wherein the entire device can be rotated in the direction of the sound source so that a simple conversation can be performed between a nursing / caregiver and a cared person. 11. The remote monitoring operation unit provides each device in the transfer robot with an alarm generation function such as a failure or inability to execute a command, the alarm information, the transfer robot self-position from the traveling environment measurement recognition device.・ Sending the obstacle information and the image information of each of the visual sensors to the remote monitoring operation unit through the command / image transfer device built into the transfer robot,
The failure location, unexecutable situation, peripheral image of the transfer robot, etc. can be displayed on the touch panel display of the remote monitoring operation unit, and the remote monitoring operator can also display the touch panel display and the menu buttons and transfer robot operation buttons displayed on the display. The operation of the transfer robot is instructed by using, and the instruction information is transmitted to the transfer robot through the command / image transmission device, and the remote monitoring operation unit capable of directly controlling the transfer robot according to the information is included. Transport robot system.